Siemens Sinumerik 840D sl Function Manual page 148

Safety functions integrated in the system/drive
6.4 Safe acceleration monitoring (SBR)
for SINAMICS S120:
p9546 SI Motion SSM (SGA n < nx) velocity limit (CU)
Speed tolerance
Figure 6-11 Characteristic of the stopping limit value for SBR
Calculating SBR tolerance of the actual speed
The following rules are valid for the parameterization of SBR tolerance:
The possible speed increase after initiating a STOP B/C is obtained from the effec-
tive acceleration a and the duration of the acceleration phase. The acceleration
phase lasts from one monitoring clock cycle MC (delay from detecting a STOP B/C
until n = 0 / activation OFF3 ramp):
set
SBR tolerance
Actual speed SBR = acceleration * acceleration duration
The following setup rule is derived thereof:
For a linear axis:
SBR tolerance [mm/min] = a [m/s
For rotary axis/spindle:
SBR tolerance [rev/min] = a [rev/s
The following machine data should be taken into account when determining the
acceleration:
MD32300 MAX_AX_ACCEL
MD35200 GEAR_STEP_SPEEDCTRL_ACCEL
MD35210 GEAR_STEP_POSCTRL_ACCEL
MD35410 SPIND_OSCILL_ACCEL
6-148
SINUMERIK 840D sl/SINAMICS S120 SINUMERIK Safety Integrated (FBSI sl) - - 10.2015 Edition
n
n
act
n
x
2
] * MC [s] * 1000 [mm/m] * 60 [s/min]
2
] * MC [s] * 60 [s/min]
Stopping limit value
STOP B/C initiated
t
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10/15